Excavator limb length determination using a laser distance meter

ABSTRACT

A framework comprises a laser distance meter (LDM), reflector, and excavator comprising a boom, a stick, boom and stick sensors, implement, and a controller. The LA comprises a boom and stick defining LA positions. The LDM is configured to generate a DLDM and θINC between the LDM and the reflector, and the controller is programmed to generate θB at a plurality of boom positions, generate θS at a plurality of stick positions, and calculate a height H and a distance D between a node on the stick and the LDM based on DLDM and θINC, build a set of H, D measurements and a corresponding set of θB, θS, and execute a linear least squares optimization process based on the H, D set and corresponding set of θB, θS to determine and operate the excavator using LB and LS.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation application of U.S. patentapplication Ser. No. 15/364,778 filed Nov. 30, 2016, entitled “EXCAVATORLIMB LENGTH AND ANGLE OFFSET DETERMINATION USING A LASER DISTANCEMETER,” the entirety of which is incorporated by reference herein.

BACKGROUND

The present disclosure relates to excavators which, for the purposes ofdefining and describing the scope of the present application, comprisean excavator boom and an excavator stick subject to swing and curl, andan excavating implement that is subject to swing and curl control withthe aid of the excavator boom and excavator stick, or other similarcomponents for executing swing and curl movement. For example, and notby way of limitation, many types of excavators comprise a hydraulicallyor pneumatically or electrically controlled excavating implement thatcan be manipulated by controlling the swing and curl functions of anexcavating linkage assembly of the excavator. Excavator technology is,for example, well represented by the disclosures of U.S. Pat. No.8,689,471, which is assigned to Caterpillar Trimble Control TechnologiesLLC and discloses methodology for sensor-based automatic control of anexcavator, US 2008/0047170, which is assigned to Caterpillar TrimbleControl Technologies LLC and discloses an excavator 3D laser system andradio positioning guidance system configured to guide a cutting edge ofan excavator bucket with high vertical accuracy, and US 2008/0000111,which is assigned to Caterpillar Trimble Control Technologies LLC anddiscloses methodology for an excavator control system to determine anorientation of an excavator sitting on a sloped site, for example.

BRIEF SUMMARY

According to the subject matter of the present disclosure, an excavatorcalibration framework comprises an excavator, a laser distance meter(LDM), and a laser reflector. The excavator comprises an excavator boom,an excavator stick, a boom dynamic sensor positioned on the excavatorboom, a stick dynamic sensor positioned on the excavator stick, anexcavating implement coupled to the excavator stick, and an architecturecontroller. The LDM is configured to generate an LDM distance signalD_(LDM) indicative of a distance between the LDM and the laser reflectorand an angle of inclination θ_(INC) indicative of an angle between theLDM and the laser reflector. The architecture controller is programmedto generate a boom measured angle θ_(B) from the boom dynamic sensor ata plurality of boom positions, generate a stick measured angle θ_(S)from the stick dynamic sensor at a plurality of stick positions,calculate a height H and a distance D between a calibration node on theexcavator stick and the LDM based on the LDM distance signal D_(LDM) andangle of inclination θ_(INC). The architecture controller is furtherprogrammed to build a set of height H and distance D measurements and acorresponding set of boom measured angles θ_(B) and stick measuredangles θ_(S), execute an optimization process comprising a linear leastsquares optimization based on the set of height H and distance Dmeasurements and the corresponding set of boom measured angles θ_(B) andstick measured angles θ_(S) to determine a boom limb length L_(B) and astick limb length L_(S), and operate the excavator using L_(B) and L_(S)

In accordance with one embodiment of the present disclosure, a method ofdetermining excavator limb length comprises utilizing an excavatorcalibration framework to determine excavator limb length, the excavatorcalibration framework comprising an excavator, a laser distance meter(LDM), and a laser reflector, wherein the excavator comprises anexcavator boom, an excavator stick, a boom dynamic sensor positioned onthe excavator boom, a stick dynamic sensor positioned on the excavatorstick, an excavating implement coupled to the excavator stick, and anarchitecture controller; generating by the LDM an LDM distance signalD_(LDM) indicative of a distance between the LDM and the laser reflectorand an angle of inclination θ_(INC) indicative of an angle between theLDM and the laser reflector; generating a boom measured angle θ_(B) fromthe boom dynamic sensor at a plurality of boom positions; generating astick measured angle θ_(S) from the stick dynamic sensor at a pluralityof stick positions; and calculating by the architecture controller aheight H and a distance D between a calibration node on the excavatorstick and the LDM based on the LDM distance signal D_(LDM) and angle ofinclination θ_(INC). The method further comprises building a set ofheight H and distance D measurements and a corresponding set of boommeasured angles θ_(B) and stick measured angles θ_(S); executing by thearchitecture controller an optimization process comprising based on theset of height H and distance D measurements and the corresponding set ofboom measured angles θ_(B) and stick measured angles θS to determine aboom limb length L_(B), a stick limb length L_(S); and operating theexcavator using L_(B) and L_(S).

Although the concepts of the present disclosure are described hereinwith primary reference to the excavator illustrated in FIG. 1, it iscontemplated that the concepts will enjoy applicability to any type ofexcavator, regardless of its particular mechanical configuration. Forexample, and not by way of limitation, the concepts may enjoyapplicability to a backhoe loader including a backhoe linkage.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

The following detailed description of specific embodiments of thepresent disclosure can be best understood when read in conjunction withthe following drawings, where like structure is indicated with likereference numerals and in which:

FIG. 1 illustrates an excavator incorporating aspects of the presentdisclosure;

FIG. 2 is a side view of an excavator incorporating aspects of thepresent disclosure;

FIG. 3 is an isometric view of a dynamic sensor, which can be disposedon a linkage of the excavator of FIG. 2;

FIG. 4 is a side elevation view of a linkage assembly of the excavatorof FIG. 2;

FIG. 5 is a side view of another excavator incorporating aspects of thepresent disclosure; and

FIG. 6 is a flow chart illustrating an optimization process that may beused in a calibration routine to determine excavator limb lengths andsensor offset angles according to aspects of the present disclosure.

DETAILED DESCRIPTION

The present disclosure relates to earthmoving machines and, moreparticularly, to earthmoving machines such as excavators includingcomponents subject to adaptive control. For example, and not by way oflimitation, many types of excavators typically have a hydraulicallycontrolled earthmoving implement that can be manipulated by a joystickor other means in an operator control station of the machine, and isalso subject to partially or fully automated adaptive control. The userof the machine may control the lift, tilt, angle, and pitch of theimplement. In addition, one or more of these variables may also besubject to partially or fully automated control based on informationsensed or received by an adaptive environmental sensor of the machine.In the embodiments described herein, an excavator calibration frameworkutilizes a laser distance meter to determine limb lengths of excavatorlimb components and sensor offsets of sensors disposed on thoserespective limbs, as described in greater detail further below. Suchdetermined values may be utilized by an excavator control to operate theexcavator.

Referring initially to FIGS. 1-2 and 5, an excavator calibrationframework comprises an excavator 100, 150, a laser distance meter (LDM)124, and a laser reflector 130. The excavator 100, comprises a machinechassis 102, 152, an excavating linkage assembly 104, 154, a boomdynamic sensor 120, a stick dynamic sensor 122, an excavating implement114, 164, and control architecture 106, 156. The excavating linkageassembly 104, 154 comprises an excavator boom 108, 158 and an excavatorstick 110, 160 that collectively define a plurality of linkage assemblypositions. The boom dynamic sensor 120 is positioned on the excavatorboom 108 and the stick dynamic sensor 122 is positioned on the excavatorstick 110. In an embodiment, the boom dynamic sensor 120 may bepositioned on the excavator boom 158 and the stick dynamic sensor 122may be positioned on the excavator stick 160.

The excavator boom 158 of FIG. 5 differs from the excavator boom 108 ofFIG. 1 in that the excavator boom 158 comprises a two-piece,variable-angle (VA) excavator boom, as will be described in greaterdetail below. While the excavator 100 will be referenced herein, itshould be understood that the embodiments described below also apply tothe excavator 150.

In embodiments, and referring to FIG. 3, the dynamic sensor 120, 122comprises an inertial measurement unit (IMU), an inclinometer, anaccelerometer, a gyroscope, an angular rate sensor, a rotary positionsensor, a position sensing cylinder, or combinations thereof. Forexample, the dynamic sensor 120, 122 may comprise an IMU comprising a3-axis accelerometer and a 3-axis gyroscope. As shown in FIG. 3, thedynamic sensor 120, 122 includes accelerations A_(x), A_(y), and A_(z),respectively representing x-axis, y-axis-, and z-axis accelerationvalues.

The excavating linkage assembly 104 may be configured to define alinkage assembly heading {circumflex over (N)} and to swing with, orrelative to, the machine chassis 102 about a swing axis S of theexcavator 100. The excavator stick 110 is configured to curl relative tothe excavator boom 108. For example, the excavator stick 110 may beconfigured to curl relative to the excavator boom 108 about a curl axisC of the excavator 100. The excavator boom 108 and excavator stick 110of the excavator 100 illustrated in FIG. 1 are linked by a simplemechanical coupling that permits movement of the excavator stick 110 inone degree of rotational freedom relative to the excavator boom 108. Inthese types of excavators, the linkage assembly heading {circumflex over(N)} will correspond to the heading of the excavator boom 108. However,the present disclosure also contemplates the use of excavators equippedwith offset booms where the excavator boom 108 and excavator stick 110are linked by a multidirectional coupling that permits movement in morethan one rotational degree of freedom. See, for example, the excavatorillustrated in U.S. Pat. No. 7,869,923 (“Slewing Controller, SlewingControl Method, and Construction Machine”). In the case of an excavatorwith an offset boom, the linkage assembly heading {circumflex over (N)}will correspond to the heading of the excavator stick 110.

The excavating implement 114 is mechanically coupled to the excavatorstick 110. For example, referring to FIG. 1, the excavating implement114 is mechanically coupled to the excavator stick 110 through animplement coupling 112. Further, referring to FIG. 5, the excavatingimplement 154 is mechanically coupled to the excavator stick 160 throughan implement coupling 162, which comprises a four-bar linkage comprisingpoints F, H, D, and terminal point G. The excavating implement 154 mayfurther comprise a terminal tooth point J and a terminal rear end pointQ.

The excavating implement 114 may be mechanically coupled to theexcavator stick 110 via the implement coupling 112 and configured torotate about a rotary axis R. In an embodiment, the rotary axis R may bedefined by the implement coupling 112 joining the excavator stick 110and the rotary excavating implement 114. In an alternative embodiment,the rotary axis R may be defined by a multidirectional, stick couplingjoining the excavator boom 108 and the excavator stick 110 along theplane P such that the excavator stick 110 is configured to rotate aboutthe rotary axis R. Rotation of the excavator stick 110 about the rotaryaxis R defined by the stick coupling may result in a correspondingrotation of the rotary excavating implement 114, which is coupled to theexcavator stick 110, about the rotary axis R defined by the stickcoupling.

As illustrated in FIGS. 2 and 4, the LDM 124 is configured to generatean LDM distance signal D_(LDM) indicative of a distance between the LDM124 and the laser reflector 130 and an angle of inclination θ_(INC)indicative of an angle between the LDM 124 and the laser reflector 130relative to horizontal. The laser reflector 130 is configured to bedisposed at a position corresponding to a calibration node 128 on theexcavator stick 110. In an embodiment, the laser reflector 130 isdisposed on a pole. The pole may be secured to the excavator stick 110.Alternatively, the laser reflector 130 is secured directly to excavatorstick 110. In a further embodiment, the calibration node 128 is at aterminal point G of the excavator stick 110 at an end of the excavatorstick 110 mechanically coupled to the excavator implement 114. The laserreflector 130 may be additionally disposed at the terminal point G. TheLDM 124 may be, for example, a Bosch GLM 100C LDM as made commerciallyavailable by Robert Bosch GmbH of Germany. A laser signal from the LDM124 may be transmitted in a direction of an arrow 132 to the calibrationnode 128 and the laser reflector 130, and the laser signal may bereflected back to the LDM 124 in the direction of an arrow 134, asillustrated in FIG. 2.

The control architecture 106 comprises one or more linkage assemblyactuators and an architecture controller programmed execute an iterativeprocess at successive linkage assembly positions. The controlarchitecture 106 may comprise a non-transitory computer-readable storagemedium comprising machine readable instructions. The one or more linkageassembly actuators facilitate movement of the excavating linkageassembly 104. The one or more linkage assembly actuators comprise ahydraulic cylinder actuator, a pneumatic cylinder actuator, anelectrical actuator, a mechanical actuator, or combinations thereof.

As shown in a control scheme 200 of FIG. 6, the iterative processcomprises generating a boom measured angle θ_(B) from the boom dynamicsensor 120, generating a stick measured angle θ_(S) from the stickdynamic sensor 122, and calculating a height H and a distance D betweenthe calibration node 128 and the LDM 124 based on the LDM distancesignal D_(LDM) and angle of inclination θ_(INC). For example, in step202, n=1 as a starting point with respect to the iterative process. Instep 204, the excavator boom 108 and the excavator stick 110 arepositioned at a position such that, in step 206, a set of sensor data isread at the position, which data includes at least corresponding boomand stick measured angles θ_(B), θ_(S) as described in greater detailbelow. Further, in step 208, values from the LDM 124 are read by, forexample, the controller, including, for example, the LDM distance signalD_(LDM) and angle of inclination θ_(INC).

The architecture controller is further programmed to (1) build a set ofheight H and distance D measurements and a corresponding set of boommeasured angles θ_(B) and stick measured angles θ_(S) for n linkageassembly positions, (2) execute an optimization process comprising alinear least squares optimization based on the set of height H anddistance D measurements and the corresponding set of boom measuredangles θ_(B) and stick measured angles θ_(S) to determine a boom limblength L_(B), a stick limb length L_(S), a boom offset angle θ_(B)^(Bias), and a stick offset angle θ_(S) ^(Bias), and (3) operate theexcavator using L_(B), L_(S), θ_(B) ^(Bias), and θ_(S) ^(Bias). Forexample, the boom limb length L_(B) is a limb length of the excavatorboom 108, the stick limb length L_(S) is a limb length of the excavatorstick 110, the boom offset angle θ_(B) ^(Bias) is an angle of the boomdynamic sensor 120 with respect to an axis between a terminal point Aand a terminal point B, and the stick offset angle θ_(S) ^(Bias) is anangle of the stick dynamic sensor 122 with respect to an axis betweenthe terminal point B and the terminal point G. In embodiments, the boommeasured angle θ_(B) represents an angle of the excavator boom 108relative to vertical and the stick measured angle θ_(S) represents anangle of the excavator stick 110 relative to vertical.

For example, referring to FIGS. 4-6, in step 210, the measurements ofheight H and distance D between the calibration node 128 and the LDM 124are determined. If n as an iterative process step is not greater than aniterative threshold in step 212, then the iterative process repeatsthrough steps 204-212. Otherwise, if n is greater than the iterativethreshold in step 212, the control scheme 200 continues on to step 216to determine limb length and sensor offset values through anoptimization, as described in greater detail further below. In step 218,the excavator 100 is operated based on the determined values of step216.

In embodiments, with respect to n linkage assembly positions, n is lessthan 20. For example, n=8. Further, the iterative process may compriseinputting a value for n that is configured to be manually modified orinput by a user, or the iterative process comprises a pre-determinedvalue for n.

The optimization process of step 216 may be executed using the height Hand distance D measurements and the corresponding set of boom measuredangles θ_(B) and stick measured angles θ_(S) for n−1 linkage assemblypositions. In embodiments, the optimization process comprises avalidation routine using height H and distance D measurements andcorresponding boom and stick measured angles θ_(B), θ_(S) for aremaining linkage assembly position of the n linkage assembly positions.Additionally or alternatively, the optimization process comprisesdisplaying a progress bar on a graphical user interface of the excavatorcalibration framework configured to display a change in a preceding lastthree estimations for at least one of L_(B), L_(S), θ_(B) ^(Bias), andθ_(S) ^(Bias). For example, the progress bar displays a change in apreceding last three estimations of L_(B).

In embodiments, the optimization process is executed using the height Hand distance D measurements and the corresponding set of boom measuredangles θ_(B) and stick measured angles θ_(S) for n−1 linkage assemblypositions.

In an embodiment, the linear least squares optimization comprises afollowing optimization equation:P=(X ^(T) X)⁻¹ X ^(T) Y  (Equation 1)

Equation 1 is a linear-in-the-parameters optimization equation, whichmay use a pseudoinverse function on P=X⁻¹Y. Further, P comprises avector comprising a set of constants that are a function of at least oneof L_(B), L_(S), θ_(B) ^(Bias), and θ_(S) ^(Bias), X comprises a vectorbased on the corresponding set of boom measured angles θ_(B) and stickmeasured angles θ_(S), and Y comprises a vector based on the set ofheight H and distance D measurements. Further, for N linkage assemblypositions ending at a linkage assembly position i,

$\begin{matrix}{{P = \left\lbrack {P_{1},P_{2},P_{3},P_{4}} \right\rbrack},} & \left( {{Equation}\mspace{14mu} 2} \right) \\{{Y = \begin{bmatrix}{{H^{M}i} - H^{M_{1\ldots\;{N{({\neq i})}}}}} \\{{D^{M}i} - D^{M_{1\ldots\;{N{({\neq i})}}}}}\end{bmatrix}},{and}} & \left( {{Equation}\mspace{14mu} 3} \right) \\{X = \begin{bmatrix}{{\cos\left( \theta_{B}^{M_{i}} \right)} - {\cos\left( \theta_{B}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{\sin\left( \theta_{B}^{M_{i}} \right)} - {\sin\left( \theta_{B}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{\cos\left( \theta_{S}^{M_{i}} \right)} - {\cos\left( \theta_{S}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{\sin\left( \theta_{S}^{M_{i}} \right)} - {\sin\left( \theta_{S}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{\sin\left( \theta_{B}^{M_{i}} \right)} - {\sin\left( \theta_{B}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{- {\cos\left( \theta_{B}^{M_{i}} \right)}} + {\cos\left( \theta_{B}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{\sin\left( \theta_{S}^{M_{i}} \right)} - {\sin\left( \theta_{S}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{- {\cos\left( \theta_{S}^{M_{i}} \right)}} + {\cos\left( \theta_{S}^{{- 1}\ldots\;{N{({\neq i})}}} \right)}}\end{bmatrix}} & \left( {{Equation}\mspace{14mu} 4} \right)\end{matrix}$

Further, for each of P₁-P₄:P ₁ =L _(B) cos(θ_(B) ^(Bias)),  (Equation 5)P ₂ =L _(B) sin(θ_(B) ^(Bias)),  (Equation 6)P ₃ =L _(S) cos(θ_(S) ^(Bias)), and  (Equation 7)P ₄ =L _(S) sin(θS ^(Bias)).  (Equation 8)

The above equations are configured to be rearranged into the followingequations to solve for L_(B), L_(S), θ_(B) ^(Bias), and θ_(S) ^(Bias):θ_(B) ^(Bias)=tan⁻¹(P ₂ /P ₁),  (Equation 9)θ_(S) ^(Bias)=tan⁻¹(P ₄ /P ₃),  (Equation 10)L _(B) =P ₁/cos(θ_(B) ^(Bias)), and  (Equation 11)L _(S) =P ₃/cos(θ_(S) ^(Bias)).  (Equation 12)

In an embodiment, the excavator boom comprises a variable-angle (VA)excavator boom. For example, referring to FIG. 5, where the excavatinglinkage assembly 154 comprises a variable-angle (VA) excavator boom 158,a VA boom dynamic sensor may be positioned on the VA excavator boom 158.Further, the iterative process may comprise generating a VA boommeasured angle from the VA boom dynamic sensor. Further, theoptimization may comprise parameters directed toward the VA excavatorboom 158 to determine a VA boom limb length L_(V), and a VA boom offsetangle θ_(V) ^(Bias).

For example, with respect to Equation 1 above for the excavator 150including the VA excavator boom 158, P comprises a vector comprising aset of constants that are a function of at least one of L_(B), L_(S),L_(V), θ_(B) ^(Bias), θ_(S) ^(Bias), and θ_(V) ^(Bias), X comprises avector based on the corresponding set of boom measured angles θ_(B) andstick measured angles θ_(S) and VA boom measured angles θ_(V), and Ycomprises a vector based on the set of height H and distance Dmeasurements. Further, Equations 2 and 4 change to the followingequations:

$\begin{matrix}{{P = \left\lbrack {P_{1},P_{2},P_{3},P_{4},P_{5},P_{6}} \right\rbrack},{and}} & \left( {{Equation}\mspace{14mu} 13} \right) \\{X = {\begin{bmatrix}{{\cos\left( \theta_{B}^{M_{i}} \right)} - {\cos\left( \theta_{B}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{\sin\left( \theta_{B}^{M_{i}} \right)} - {\sin\left( \theta_{B}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{\cos\left( \theta_{S}^{M_{i}} \right)} - {\cos\left( \theta_{S}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{\sin\left( \theta_{S}^{M_{i}} \right)} - {\sin\left( \theta_{S}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{\cos\left( \theta_{V}^{M_{i}} \right)} - {\cos\left( \theta_{V}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{\sin\left( \theta_{V}^{M_{i}} \right)} - {\sin\left( \theta_{V}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{\sin\left( \theta_{B}^{M_{i}} \right)} - {\sin\left( \theta_{B}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{- {\cos\left( \theta_{B}^{M_{i}} \right)}} + {\cos\left( \theta_{B}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{\sin\left( \theta_{S}^{M_{i}} \right)} - {\sin\left( \theta_{S}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{- {\cos\left( \theta_{S}^{M_{i}} \right)}} + {\cos\left( \theta_{S}^{{- 1}\ldots\;{N{({\neq i})}}} \right)}} \\{{\sin\left( \theta_{V}^{M_{i}} \right)} - {\sin\left( \theta_{V}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{- {\cos\left( \theta_{V}^{M_{i}} \right)}} + {\cos\left( \theta_{V}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}}\end{bmatrix}.}} & \left( {{Equation}\mspace{14mu} 14} \right)\end{matrix}$

With respect to new equation 13, equations 5-8 above still apply forP₁-P₄ as well as the below new equations for P₅-P₆:P ₅ =L _(V) cos(θ_(V) ^(Bias)), and  (Equation 15)P ₆ =L _(V) sin(θ_(V) ^(Bias)),  (Equation 16)

Equations 15-16 are further configured to be rearranged into thefollowing equations to solve for L_(V) and θ_(V) ^(Bias):θ_(V) ^(Bias)=tan⁻¹(P ₆ /P ₅), and  (Equation 17)L _(V) =P ₅/cos(θ_(V) ^(Bias)).  (Equation 18)

In embodiments, and with reference to FIG. 4, the height H and thedistance D measurements between the calibration node 128 and the LDM 124follow:H=D _(LDM) sin(θ_(INC)), and  (Equation 19)D=D _(LDM) cos(θ_(INC)).  (Equation 20)

Further, a sum of a height H₀ of the LDM 124 from a terminal point A ofthe excavator boom 108 and the height H between the calibration node 128and the LDM 124 is equal to an equation including a boom actual angleθ_(B) ^(actual) and a stick actual angle θ_(S) ^(Actual) such thatH ₀ +H=L _(B) cos(θ_(B) ^(Actual))+L _(S) cos(θ_(S)^(Actual)).  (Equation 21)

Further, a sum of a distance D₀ of the LDM from a terminal point A ofthe excavator boom and the distance D between the calibration node 128and the LDM 124 is equal to an equation including θ_(B) ^(Actual) andθ_(S) ^(Actual) such thatD ₀ +D=L _(B) sin(θ_(B) ^(Actual))+L _(S) sin(θ_(S)^(Actual)),  (Equation 22)

Additionally, the boom measured angle θ_(B) is equal to θ_(B)^(Actual)+θ_(B) ^(Actual) such thatsin(θ_(B) ^(Actual))=sin(θ_(B)−θ_(B) ^(Bias)) and cos(θ_(B)^(Actual))=cos(θ_(B)−θ_(B) ^(Bias)).  (Equation 23)

Further, the stick measured angle θ_(S) is equal to θ_(S)^(Actual)+θ_(S) ^(Bias) such thatsin(θ_(S) ^(Actual))=sin(θ_(S)−θ_(S) ^(Bias)) and cos(θ_(S)^(Actual))=cos(θ_(B)−θ_(B) ^(Bias)).  (Equation 24)

Through use of a trigonometric identity:sin(θ_(X) ^(Actual))=sin(θ_(X)−θ_(X) ^(Bias))=cos(θ_(X)^(Bias))sin(θ_(X))−sin(θ_(X) ^(Bias))cos(θ_(X))=K _(1X) sin(θ_(X))−K_(2X) cos(θ_(X)), and  (Equation 25)cos(θ_(X) ^(Actual))=cos(θ_(X)−θ_(X) ^(Bias))=cos(θ_(X)^(Bias))cos(θ_(X))+sin(θ_(X) ^(Bias))sin(θ_(X))=K _(1X) cos(θ_(X))+K_(2X) sin(θ_(X)).  (Equation 26)

In the above equations, θ_(X) is one of θ_(B) and θ_(S) (or θ_(V) asdescribed in greater detail below) such that X is a respective one of Band S (or V), andK _(1X)=cos(θ_(X) ^(Bias)) and K _(2X)=sin(θ_(X) ^(Bias)).  (Equation27)

For example, with respect to θ_(B) ^(Actual).sin(θ_(B) ^(Actual))=sin(θ_(B)−θ_(B) ^(Bias))=cos(θ_(B)^(Bias))sin(θ_(B))−sin(θ_(B) ^(Bias))cos(θ_(B))=K _(1B) sin(θ_(B))−K_(2B) cos(θ_(B)),  (Equation 28)WhereK _(1B)=cos(θ_(B) ^(Bias)) and K _(2B)=sin(θ_(B) ^(Bias)),and  (Equation 29)cos(θ_(B) ^(Actual))=cos(θ_(B)−θ_(B) ^(Bias))=cos(θ_(B)^(Bias))cos(θ_(B))+sin(θ_(B) ^(Bias))sin(θ_(B))=K _(1B) cos(θ_(B))+K_(2B) sin(θ_(B)).  (Equation 30)

Additionally, with respect to θ_(B) ^(Actual),sin(θ_(S) ^(Actual))=sin(θ_(S)−θ_(S) ^(Bias))=cos(θ_(S)^(Bias))sin(θ_(S))−sin(θ_(S) ^(Bias))cos(θ_(S))=K _(1S) sin(θ_(S))−K_(2S) cos(θ_(S)),  (Equation 31)whereK _(1S)=cos(θ_(S) ^(Bias)) and K _(2S)=sin(θ_(S) ^(Bias)),and  (Equation 32)cos(θ_(S) ^(Actual))=cos(θ_(S)−θ_(S) ^(Bias))=cos(θ_(S)^(Bias))cos(θ_(S))+sin(θ_(S) ^(Bias))sin(θ_(S))=K _(1S) cos(θ_(S))+K_(2S) sin(θ_(S)).  (Equation 33)

Thus, from equations 21-22, respectfully, and the above trigonometricidentity based equations,H ₀ +H=L _(B) K _(1B) cos(θ_(B))+L _(B) K _(2B) sin(θ_(B))+L _(S) K_(1S) cos(θ_(S))+L _(S) K _(2S) sin(θ_(S)), and   (Equation 34)D ₀ +D=L _(B) K _(1B) sin(θ_(B))−L _(B) K _(2B) cos(θ_(B))+L _(S) K_(1S) sin(θ_(S))−L _(S) K _(2S) cos(θ_(S)).  (Equation 35)

Further, a set of solvable constants P₁, P₂, P₃, and P₄ are defined asfollows:P ₁ =L _(B) K _(1B),  (Equation 36)P ₂ =L _(B) K _(2B),  (Equation 37)P ₃ =L _(S) K _(1S), and  (Equation 38)P ₄ =L _(S) K _(2S).  (Equation 39)

to form a first position equation set:H ₀ +H=P ₁ cos(θ_(B))+P ₂ sin(θ_(B))+P ₃ cos(θ_(S))+P ₄ sin(θ_(S)), andD ₀ +D=P ₁ sin(θ_(B))−P ₂ cos(θ_(B))+P ₃ sin(θ_(S))−P ₄ cos(θ_(S)).  (First Position Equation Set)

The iterative process may further comprise finding, for each linkageassembly position, a second position equation set comprising vectors:H ₀ +H ^(Meaured)=[P ₁ ,P ₂ ,P ₃ ,P ₄][cos(θ_(B)), sin(θ_(B)),cos(θ_(S)), sin(θ_(S))]^(T), andD ₀ +D ^(Meaured)=[P ₁ ,P ₂ ,P ₃ ,P ₄][sin(θ_(B)),−cos(θ_(B)),sin(θ_(S)),−cos(θ_(S))]^(T).   (Second Position Equation Set)

The iterative process may further comprise combining at least two setsof data in the second position equation set and subtracting to remove H₀and D₀ define a third position equation set upon which the linear leastsquares optimization is used to solve for [P₁, P₂, P₃, P₄]:

${{H^{M_{i}} - H^{M_{1\ldots\;{N{({\neq i})}}}}} = {\left\lbrack {P_{1},P_{2},P_{3},P_{4}} \right\rbrack\begin{bmatrix}{{\cos\left( \theta_{B}^{M_{i}} \right)} - {\cos\left( \theta_{B}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{\sin\left( \theta_{B}^{M_{i}} \right)} - {\sin\left( \theta_{B}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{\cos\left( \theta_{S}^{M_{i}} \right)} - {\cos\left( \theta_{S}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{\sin\left( \theta_{S}^{M_{i}} \right)} - {\sin\left( \theta_{S}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}}\end{bmatrix}}},{and}$${D^{M_{i}} - D^{M_{1\ldots\;{N{({\neq i})}}}}} = {{\left\lbrack {P_{1},P_{2},P_{3},P_{4}} \right\rbrack\begin{bmatrix}{{\sin\left( \theta_{B}^{M_{i}} \right)} - {\sin\left( \theta_{B}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{- {\cos\left( \theta_{B}^{M_{i}} \right)}} + {\cos\left( \theta_{B}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{\sin\left( \theta_{S}^{M_{i}} \right)} - {\sin\left( \theta_{S}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{- {\cos\left( \theta_{S}^{M_{i}} \right)}} + {\cos\left( \theta_{S}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}}\end{bmatrix}}.\left( {{Third}\mspace{14mu}{Position}\mspace{14mu}{Equation}\mspace{14mu}{Set}} \right)}$

In an embodiment in which the excavator comprises a VA excavator boom,the above equations would include associated VA boom parameters as setforth below:H ₀ +H=L _(B) cos(θ_(S) ^(Actual))+L _(S) cos(θ_(S) ^(Actual))+L _(V)cos(θ_(V) ^(Actual))  (Equation 40)D ₀ +D=L _(B) sin(θ_(B) ^(Actual))+L _(S) sin(θ_(S) ^(Actual))+L _(V)sin(θ_(V) ^(Actual)),  (Equation 41)

Additionally, these equations would further be defined, including theassociated parameters, as set forth below:H ₀ +H=L _(B) K _(1B) cos(θ_(B))+L _(B) K _(2B) sin(θ_(B))+L _(S) K_(1S) cos(θ_(S))+L _(S) K _(2S) sin(θ_(S))+L _(V) K _(1V) cos(θ_(V))+L_(V) K _(2V) sin(θ_(V)), and   (Equation 42)D ₀ +D=L _(B) K _(1B) sin(θ_(B))−L _(B) K _(2B) cos(θ_(B))+L _(S) K_(1S) sin(θ_(S))−L _(S) K _(2S) cos(θ_(S))+L _(V) K _(1V) sin(θ_(V))−L_(V) K _(2V) cos(θ_(V)).   (Equation 43)

Further, in an embodiment in which the VA excavator boom is included,the equation would include associated parameters as set forth below:P ₅ =L _(V) K _(1V), and  (Equation 44)P ₆ =L _(V) K _(2V),  (Equation 45)

Thus, the following first position equation set may be formed:H ₀ +H=P ₁ cos(θ_(B))+P ₂ sin(θ_(B))+P ₃ cos(θ_(S))+P ₄ sin(θ_(S))+P ₅cos(θ_(V))+P ₆ sin(θ_(V)), andD ₀ +D=P ₁ sin(θ_(B))−P ₂ cos(θ_(B))+P ₃ sin(θ_(S))−P ₄ cos(θ_(S))+P ₅sin(θ_(V))−P ₆ cos(θ_(V)).   (First VA Position Equation Set)

The iterative process would comprise finding, for each linkage assemblyposition, a second position equation set comprising vectors:H ₀ +H ^(Meaured)=[P ₁ ,P ₂ ,P ₃ ,P ₄ ,P ₅ ,P ₆][cos(θ_(B)), sin(θ_(B)),cos(θ_(S)), sin(θ_(S)), cos(θ_(V)), sin(θ_(V))]^(T), andD ₀ +D ^(Meaured)=[P ₁ ,P ₂ ,P ₃ ,P ₄ ,P ₅ ,P ₆][sin(θ_(B)), cos(θ_(B)),sin(θ_(S)), cos(θ_(S)), sin(θ_(V)), cos(θ_(V))]^(T).   (Second VAPosition Equation Set)

The iterative process would further comprise combining at least two setsof data in the second position equation set and subtracting to remove H₀and D₀ define a third position equation set upon which the linear leastsquares optimization is used to solve for [P₁, P₂, P₃, P₄, P₅, P₆]:

${{H^{M_{i}} - H^{M_{1\ldots\;{N{({\neq i})}}}}} = {\left\lbrack {P_{1},P_{2},P_{3},P_{4},P_{5},P_{6}} \right\rbrack\begin{bmatrix}{{\cos\left( \theta_{B}^{M_{i}} \right)} - {\cos\left( \theta_{B}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{\sin\left( \theta_{B}^{M_{i}} \right)} - {\sin\left( \theta_{B}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{\cos\left( \theta_{S}^{M_{i}} \right)} - {\cos\left( \theta_{S}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{\sin\left( \theta_{S}^{M_{i}} \right)} - {\sin\left( \theta_{S}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{\cos\left( \theta_{V}^{M_{i}} \right)} - {\cos\left( \theta_{V}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{\sin\left( \theta_{V}^{M_{i}} \right)} - {\sin\left( \theta_{V}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}}\end{bmatrix}}},{and}$${D^{M_{i}} - D^{M_{1\ldots\;{N{({\neq i})}}}}} = {\left\lbrack {P_{1},P_{2},P_{3},P_{4},P_{5},P_{6}} \right\rbrack{\quad{\begin{bmatrix}{{\sin\left( \theta_{B}^{M_{i}} \right)} - {\sin\left( \theta_{B}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{- {\cos\left( \theta_{B}^{M_{i}} \right)}} + {\cos\left( \theta_{B}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{\sin\left( \theta_{S}^{M_{i}} \right)} - {\sin\left( \theta_{S}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{- {\cos\left( \theta_{S}^{M_{i}} \right)}} + {\cos\left( \theta_{S}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{\sin\left( \theta_{V}^{M_{i}} \right)} - {\sin\left( \theta_{V}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{- {\cos\left( \theta_{V}^{M_{i}} \right)}} + {\cos\left( \theta_{V}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}}\end{bmatrix},\left( {{Third}\mspace{14mu}{VA}\mspace{14mu}{Position}\mspace{14mu}{Equation}\mspace{14mu}{Set}} \right)}}}$

It is contemplated that the embodiments of the present disclosure mayassist to permit a speedy and more cost efficient method of determininglimb lengths and sensor offsets of sensors on excavator limbs in amanner that minimizes a risk of human error with such valuedeterminations. Further, a quick linear-in-the-parameters optimizationas described herein allows for a speedier optimization than a non-linearoptimization would allow, and the controller of the excavator or othercontrol technologies are improved such that the processing systems areimproved with respect to speed, efficiency, and output.

A signal may be “generated” by direct or indirect calculation ormeasurement, with or without the aid of a sensor.

For the purposes of describing and defining the present invention, it isnoted that reference herein to a variable being a “function” of (or“based on”) a parameter or another variable is not intended to denotethat the variable is exclusively a function of or based on the listedparameter or variable. Rather, reference herein to a variable that is a“function” of or “based on” a listed parameter is intended to be openended such that the variable may be a function of (or based on) a singleparameter or a plurality of parameters.

It is also noted that recitations herein of “at least one” component,element, etc., should not be used to create an inference that thealternative use of the articles “a” or “an” should be limited to asingle component, element, etc.

It is noted that recitations herein of a component of the presentdisclosure being “configured” or “programmed” in a particular way, toembody a particular property, or to function in a particular manner, arestructural recitations, as opposed to recitations of intended use. Morespecifically, the references herein to the manner in which a componentis “configured” or “programmed” denotes an existing physical conditionof the component and, as such, is to be taken as a definite recitationof the structural characteristics of the component.

It is noted that terms like “preferably,” “commonly,” and “typically,”when utilized herein, are not utilized to limit the scope of the claimedinvention or to imply that certain features are critical, essential, oreven important to the structure or function of the claimed invention.Rather, these terms are merely intended to identify particular aspectsof an embodiment of the present disclosure or to emphasize alternativeor additional features that may or may not be utilized in a particularembodiment of the present disclosure.

For the purposes of describing and defining the present invention it isnoted that the terms “substantially” and “approximately” are utilizedherein to represent the inherent degree of uncertainty that may beattributed to any quantitative comparison, value, measurement, or otherrepresentation. The terms “substantially” and “approximately” are alsoutilized herein to represent the degree by which a quantitativerepresentation may vary from a stated reference without resulting in achange in the basic function of the subject matter at issue.

Having described the subject matter of the present disclosure in detailand by reference to specific embodiments thereof, it is noted that thevarious details disclosed herein should not be taken to imply that thesedetails relate to elements that are essential components of the variousembodiments described herein, even in cases where a particular elementis illustrated in each of the drawings that accompany the presentdescription. Further, it will be apparent that modifications andvariations are possible without departing from the scope of the presentdisclosure, including, but not limited to, embodiments defined in theappended claims. More specifically, although some aspects of the presentdisclosure are identified herein as preferred or particularlyadvantageous, it is contemplated that the present disclosure is notnecessarily limited to these aspects.

It is noted that one or more of the following claims utilize the term“wherein” as a transitional phrase. For the purposes of defining thepresent invention, it is noted that this term is introduced in theclaims as an open-ended transitional phrase that is used to introduce arecitation of a series of characteristics of the structure and should beinterpreted in like manner as the more commonly used open-ended preambleterm “comprising.”

What is claimed is:
 1. An excavator calibration framework comprising anexcavator, a laser distance meter (LDM), and a laser reflector, wherein:the excavator comprises an excavator boom, an excavator stick, a boomdynamic sensor positioned on the excavator boom, a stick dynamic sensorpositioned on the excavator stick, an excavating implement coupled tothe excavator stick, and an architecture controller; the LDM isconfigured to generate an LDM distance signal D_(LDM) indicative of adistance between the LDM and the laser reflector and an angle ofinclination θ_(INC) indicative of an angle between the LDM and the laserreflector; and the architecture controller is programmed to generate aboom measured angle θ_(S) from the boom dynamic sensor at a plurality ofboom positions, generate a stick measured angle θ_(S) from the stickdynamic sensor at a plurality of stick positions, calculate a height Hand a distance D between a calibration node on the excavator stick andthe LDM based on the LDM distance signal D_(LDM) and angle ofinclination θ_(INC), build a set of height H and distance D measurementsand a corresponding set of boom measured angles θ_(B) and stick measuredangles θ_(S), execute an optimization process comprising based on theset of height H and distance D measurements and the corresponding set ofboom measured angles θ_(B) and stick measured angles θ_(S) to determinea boom limb length L_(S), a stick limb length L_(S), and operate theexcavator using L_(B) and L_(S).
 2. The excavator calibration frameworkas claimed in claim 1, wherein: the architecture controller is furtherprogrammed to execute an optimization process comprising a linear leastsquares optimization based on the set of height H and distance Dmeasurements and the corresponding set of boom measured angles θ_(B) andstick measured angles θ_(S) to determine the boom limb length L_(S), thestick limb length L_(S), a boom offset angle θ_(B) ^(Bias), and a stickoffset angle θ_(S) ^(Bias), and operate the excavator using L_(B),L_(S), θ_(B) ^(Bias), and θ_(S) ^(Bias); and the linear least squaresoptimization comprises an optimization equationP=(X ^(T) X)⁻¹ X ^(T) Y where P comprises a vector comprising a set ofconstants that are a function of at least one of L_(B), L_(S), θ_(B)^(Bias), and θ_(S) ^(Bias), X comprises a vector based on thecorresponding set of boom measured angles θ_(B) and stick measuredangles θ_(S), and Y comprises a vector based on the set of height H anddistance D measurements.
 3. The excavator calibration framework asclaimed in claim 2, wherein, for N linkage assembly positions ending ata linkage assembly position i,${P = \left\lbrack {P_{1},P_{2},P_{3},P_{4}} \right\rbrack},{Y = \begin{bmatrix}{{H^{M}i} - H^{M_{1\ldots\;{N{({\neq i})}}}}} \\{{D^{M}i} - D^{M_{1\ldots\;{N{({\neq i})}}}}}\end{bmatrix}},{and}$ $X = {\begin{bmatrix}{{\cos\left( \theta_{B}^{M_{i}} \right)} - {\cos\left( \theta_{B}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{\sin\left( \theta_{B}^{M_{i}} \right)} - {\sin\left( \theta_{B}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{\cos\left( \theta_{S}^{M_{i}} \right)} - {\cos\left( \theta_{S}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{\sin\left( \theta_{S}^{M_{i}} \right)} - {\sin\left( \theta_{S}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{\sin\left( \theta_{B}^{M_{i}} \right)} - {\sin\left( \theta_{B}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{- {\cos\left( \theta_{B}^{M_{i}} \right)}} + {\cos\left( \theta_{B}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{\sin\left( \theta_{S}^{M_{i}} \right)} - {\sin\left( \theta_{S}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{- {\cos\left( \theta_{S}^{M_{i}} \right)}} + {\cos\left( \theta_{S}^{{- 1}\ldots\;{N{({\neq i})}}} \right)}}\end{bmatrix}.}$
 4. The excavator calibration framework as claimed inclaim 2, whereinP ₁ =L _(B) cos(θ_(B) ^(Bias)),P ₂ =L _(B) sin(θ_(B) ^(Bias)),P ₃ =L _(S) cos(θ_(S) ^(Bias)), andP ₄ =L _(S) sin(θS ^(Bias)), which are configured to be rearranged intothe following equations to solve for L_(B), L_(S), θ_(B) ^(Bias), andθ_(S) ^(Bias):θ_(B) ^(Bias)=tan⁻¹(P ₂ /P ₁),θ_(S) ^(Bias)=tan⁻¹(P ₄ /P ₃),L _(B) =P ₁/cos(θ_(B) ^(Bias)), andL _(S) =P ₃/cos(θ_(S) ^(Bias)).
 5. The excavator calibration frameworkas claimed in claim 2, wherein: the excavator boom comprises avariable-angle (VA) excavator boom, and a VA boom dynamic sensor ispositioned on the VA excavator boom.
 6. The excavator calibrationframework as claimed in claim 5, wherein: the iterative process furthercomprises generating a VA boom measured angle from the VA boom dynamicsensor; and the optimization further comprises parameters directedtoward the VA excavator boom to determine a VA boom limb length L_(V),and a VA boom offset angle θ_(V) ^(Bias).
 7. The excavator calibrationframework as claimed in claim 6, wherein the linear least squaresoptimization comprises a following optimization equation:P=(X ^(T) X)⁻¹ X ^(T) Y where: P comprises a vector comprising a set ofconstants that are a function of at least one of L_(B), L_(S), L_(V),θ_(B) ^(Bias), θ_(S) ^(Bias), and θ_(V) ^(Bias), X comprises a vectorbased on the corresponding set of boom measured angles θ_(B) and stickmeasured angles θ_(S) and VA boom measured angles θ_(V), and Y comprisesa vector based on the set of height H and distance D measurements. 8.The excavator calibration framework as claimed in claim 5, wherein, forN linkage assembly positions ending at a linkage assembly position i,${P = \left\lbrack {P_{1},P_{2},P_{3},P_{4},P_{5},P_{6}} \right\rbrack},{Y = \begin{bmatrix}{{H^{M}i} - H^{M_{1\ldots\;{N{({\neq i})}}}}} \\{{D^{M}i} - D^{M_{1\ldots\;{N{({\neq i})}}}}}\end{bmatrix}},{and}$ $X = {\begin{bmatrix}{{\cos\left( \theta_{B}^{M_{i}} \right)} - {\cos\left( \theta_{B}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{\sin\left( \theta_{B}^{M_{i}} \right)} - {\sin\left( \theta_{B}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{\cos\left( \theta_{S}^{M_{i}} \right)} - {\cos\left( \theta_{S}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{\sin\left( \theta_{S}^{M_{i}} \right)} - {\sin\left( \theta_{S}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{\cos\left( \theta_{V}^{M_{i}} \right)} - {\cos\left( \theta_{V}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{\sin\left( \theta_{V}^{M_{i}} \right)} - {\sin\left( \theta_{V}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{\sin\left( \theta_{B}^{M_{i}} \right)} - {\sin\left( \theta_{B}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{- {\cos\left( \theta_{B}^{M_{i}} \right)}} + {\cos\left( \theta_{B}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{\sin\left( \theta_{S}^{M_{i}} \right)} - {\sin\left( \theta_{S}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{- {\cos\left( \theta_{S}^{M_{i}} \right)}} + {\cos\left( \theta_{S}^{{- 1}\ldots\;{N{({\neq i})}}} \right)}} \\{{\sin\left( \theta_{V}^{M_{i}} \right)} - {\sin\left( \theta_{V}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}} \\{{- {\cos\left( \theta_{V}^{M_{i}} \right)}} + {\cos\left( \theta_{V}^{M_{1\ldots\;{N{({\neq i})}}}} \right)}}\end{bmatrix}.}$
 9. The excavator calibration framework as claimed inclaim 5, whereinP ₁ =L _(B) cos(θ_(B) ^(Bias)),P ₂ =L _(B) sin(θ_(B) ^(Bias)),P ₃ =L _(S) cos(θ_(S) ^(Bias)),)P ₄ =L _(S) sin(θS ^(Bias)),P ₅ =L _(V) cos(θ_(V) ^(Bias)), andP ₆ =L _(V) sin(θ_(V) ^(Bias)), which are configured to be rearrangedinto the following equations to solve for L_(B), L_(S), L_(V), L_(B)^(Bias), θ_(S) ^(Bias), and θ_(V) ^(Bias):θ_(B) ^(Bias)=tan⁻¹(P ₂ /P ₁),θ_(S) ^(Bias)=tan⁻¹(P ₄ /P ₃),θ_(V) ^(Bias)=tan⁻¹(P ₆ /P ₅),L _(B) =P ₁/cos(θ_(B) ^(Bias)),L _(S) =P ₃/cos(θ_(S) ^(Bias)), andL _(V) =P ₅/cos(θ_(V) ^(Bias)).
 10. The excavator calibration frameworkas claimed in claim 1, wherein the laser reflector is disposed on apole.
 11. The excavator calibration framework as claimed in claim 1,wherein the laser reflector is secured directly to the excavator stick.12. The excavator calibration framework as claimed in claim 1, wherein:the laser reflector is configured to be disposed at a positioncorresponding to the calibration node; and the calibration node is at aterminal point G of the excavator stick at an end of the excavator stickmechanically coupled to the excavating implement.
 13. The excavatorcalibration framework as claimed in claim 12, wherein the laserreflector is disposed at the terminal point G.
 14. The excavatorcalibration framework as claimed in claim 1, wherein the boom measuredangle θ_(B), represents an angle of the excavator boom relative tovertical, and the stick measured angle θ_(S) represents an angle of theexcavator stick relative to vertical.
 15. The excavator calibrationframework as claimed in claim 1, wherein at least one of the dynamicsensors comprise an inertial measurement unit (IMU), an inclinometer, anaccelerometer, a gyroscope, an angular rate sensor, a rotary positionsensor, a position sensing cylinder, or combinations thereof.
 16. Theexcavator calibration framework as claimed in claim 1, wherein at leastone of the dynamic sensors comprise an IMU comprising a 3-axisaccelerometer and a 3-axis gyroscope.
 17. The excavator calibrationframework as claimed in claim 1, wherein: the excavator comprises amachine chassis and an excavating linkage assembly, the excavatinglinkage assembly comprising the excavator boom and the excavator stickthat collectively define a plurality of linkage assembly positionscomprising the plurality of boom positions and the plurality of stickpositions, the excavating linkage assembly configured to swing with, orrelative to, the machine chassis, the excavator stick configured to curlrelative to the excavator boom; the optimization process is executedusing the height H and distance D measurements and the corresponding setof boom measured angles θ_(B) and stick measured angles θ_(S) for n−1linkage assembly positions; and the optimization process comprises avalidation routine using height H and distance D measurements andcorresponding boom and stick measured angles θ_(B), θ_(S) for aremaining linkage assembly position of the n linkage assembly positions.18. The excavator calibration framework as claimed in claim 17, wherein:the optimization process is executed using the height H and distance Dmeasurements and the corresponding set of boom measured angles θ_(B) andstick measured angles θ_(S) for n−1 linkage assembly positions; and theoptimization process comprises displaying a progress bar on a graphicaluser interface of the excavator calibration framework configured todisplay a change in a preceding last three estimations for at least oneof L_(B), L_(S), θ_(B) ^(Bias), and θ_(S) ^(Bias).
 19. The excavatorcalibration framework as claimed in claim 18, wherein the progress bardisplays a change in a preceding last three estimations of L_(B).
 20. Amethod of determining excavator limb length, comprising: utilizing anexcavator calibration framework to determine excavator limb length, theexcavator calibration framework comprising an excavator, a laserdistance meter (LDM), and a laser reflector, wherein the excavatorcomprises an excavator boom, an excavator stick, a boom dynamic sensorpositioned on the excavator boom, a stick dynamic sensor positioned onthe excavator stick, an excavating implement coupled to the excavatorstick, and an architecture controller; generating by the LDM an LDMdistance signal D_(LDM) indicative of a distance between the LDM and thelaser reflector and an angle of inclination θ_(INC) indicative of anangle between the LDM and the laser reflector; generating a boommeasured angle θ_(B) from the boom dynamic sensor at a plurality of boompositions; generating a stick measured angle θ_(S) from the stickdynamic sensor at a plurality of stick positions; calculating by thearchitecture controller a height H and a distance D between acalibration node on the excavator stick and the LDM based on the LDMdistance signal D_(LDM) and angle of inclination θ_(INC); building a setof height H and distance D measurements and a corresponding set of boommeasured angles θ_(B) and stick measured angles θ_(S); executing by thearchitecture controller an optimization process comprising based on theset of height H and distance D measurements and the corresponding set ofboom measured angles θ_(B) and stick measured angles θ_(S) to determinea boom limb length L_(B), a stick limb length L_(S); and operating theexcavator using L_(B) and L_(S).